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检索条件"任意字段=Conference on Sensor Fusion and Distributed Robotic Agents"

共 371 条记录，以下是121-130 订阅

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PIAX: Toward a framework for sensor overlay network

PIAX: Toward a framework for sensor overlay network

引用

2009 6th IEEE Consumer Communications and Networking conference, CCNC 2009

作者： Teranishi, Yuuichi Graduate School of Information Science and Technology Osaka University Japan

ISBN: (纸本)9781424423095

In this paper, requirements and technologies for realizing sensor overlay networks are introduced. sensor overlay networks should provide distributed data fusion mechanism, i.e. in-network computing feature, for effective computing on distributed sensors. sensor overlay networks should also have scalability, maintainability and sustainability. To treat such requirements, we have developed an open source framework called 'PIAX'. The overview of PIAX and its technologies to treat sensor overlay networks are described in this paper. ©2009 IEEE.

关键词： Mobile agents

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A Diffusion-Based distributed Time Difference Of Arrival Source Positioning 24

A Diffusion-Based Distributed Time Difference Of Arrival Sou...

引用

24th IEEE International conference on Information fusion (fusion)

作者： Gendler, Asaf Peleg, Shahaf Yaron Amar, Alon Technion Elect & Comp Engn Fac Haifa Israel Acoust Res Ctr Signal Proc Dept Haifa Israel

ISBN: (纸本)9781737749714

We propose a distributed time difference of arrival method for estimating a source using a multi-agent network. By exchanging information with the agents in its local neighborhood, each agent estimates the source position by minimizing a local cost function which is obtained by linearizing the local time difference of arrival measurements. The local minimization is performed using the diffusion approach where at the first step each agent determines a local estimate by combining the weighted source position estimates received from its neighbors, and then adapt the local gradient of its local cost function. We propose to use adaptive weights which are time-varying and depends on the fit errors of each agent in the network. Numerical results and real data experiments demonstrate that such an approach produces close position estimates compared to the centralized method and the theoretical Cramer-Rao lower bounds.

关键词： Source localization distributed processing sensor networks time difference of arrival

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Embry-Riddle Aeronautical University Multispectral sensor and Data fusion Laboratory: A Model for distributed Research and Education 10

Embry-Riddle Aeronautical University Multispectral Sensor an...

引用

conference on Next-Generation Spectroscopic Technologies X

作者： McMullen, Sonya A. H. Henderson, Troy Ison, David Embry Riddle Aeronaut Univ Worldwide Coll Aeronaut 600 S Clyde Morris Blvd Daytona Beach FL 32114 USA Embry Riddle Aeronaut Univ Worldwide Coll Engn 600 S Clyde Morris Blvd Daytona Beach FL 32114 USA

ISBN: (数字)9781510606821

ISBN: (纸本)9781510609228

The miniaturization of unmanned systems and spacecraft, as well as computing and sensor technologies, has opened new opportunities in the areas of remote sensing and multi-sensor data fusion for a variety of applications. Remote sensing and data fusion historically have been the purview of large government organizations, such as the Department of Defense (DoD), National Aeronautics and Space Administration (NASA), and National Geospatial-Intelligence Agency (NGA) due to the high cost and complexity of developing, fielding, and operating such systems. However, miniaturized computers with high capacity processing capabilities, small and affordable sensors, and emerging, commercially available platforms such as UAS and Cube Sats to carry such sensors, have allowed for a vast range of novel applications. In order to leverage these developments, Embry-Riddle Aeronautical University (ERAU) has developed an advanced sensor and data fusion laboratory to research component capabilities and their employment on a wide-range of autonomous, robotic, and transportation systems. This lab is unique in several ways, for example, it provides a traditional campus laboratory for students and faculty to model and test sensors in a range of scenarios, process multi-sensor data sets (both simulated and experimental), and analyze results. Moreover, such allows for "virtual" modeling, testing, and teaching capability reaching beyond the physical confines of the facility for use among ERAU Worldwide students and faculty located around the globe. Although other institutions such as Georgia Institute of Technology, Lockheed Martin, University of Dayton, and University of Central Florida have optical sensor laboratories, the ERAU virtual concept is the first such lab to expand to multispectral sensors and data fusion, while focusing on the data collection and data products and not on the manufacturing aspect. Further, the initiative is a unique effort among Embry-Riddle faculty to develop multi

关键词： Optical sensors multispectral sensors multisensor data fusion virtual laboratory distributed teams research capability tools for use in higher education

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Multi-variate distributed data fusion with expensive sensor data

Multi-variate distributed data fusion with expensive sensor ...

引用

2011 IEEE/WIC/ACM International conference on Intelligent Agent Technology, IAT 2011

作者： Wang, Yonghong Sycara, Katia Scerri, Paul Robotics Institute Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213-3890 United States

ISBN: (纸本)9780769545134

distributed fusion of complex information is critical to the success of large organizations. For such organizations, comprised of thousands of agents, improving and shaping the quality of conclusions reached is a challenging problem. The challenge is increased by the fact that acquisition of information could be costly. This leads to the crucial requirement that the organization should strive to reach correct conclusions while minimizing information acquisition cost. In this paper, we have developed a model of complex, interdependent information that is costly to acquire and where complex fusion should be optimized within an organization while minimizing the cost of acquiring the sensor data. Empirical results show a number of interesting effects. First, unselfish agents who spend resources (even when not strictly locally necessary) can lead to substantial improvement in the overall accuracy of the organization's conclusions. Second, an organization can substantially improve its performance by carefully assigning sensor resources within the organization. Third, over time, agents can learn the reliability of the members of the organization to whom they are directly connected to improve performance. Learning can also lead to better team decisions about whether to spend resources and how much resource to expend to get sensor data. Our conclusions and algorithms can help a range of organizations reach better conclusions while expending less resources procuring sensor data. © 2011 IEEE.

关键词： sensor networks

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robotic deployment for environmental sampling applications

Robotic deployment for environmental sampling applications

引用

5th International conference on Control and Automation, ICCA'05

作者： Popa, Dan O. Sreenath, Koushil Lewis, Frank L. University of Texas at Arlington Arlington TX United States

ISBN: (纸本)0780391381

The use of robotics in environmental monitoring applications requires distributed sensor systems optimized for effective estimation of relevant models subject to energy and environmental constraints. The sensor carrying robots are in fact agents that facilitate the repositioning of network nodes in order to increase their coverage and accuracy. Wireless or acoustic network communication is an essential technology in transmitting the sensed as well as telemetry information between robots. Each mobile sensing node (robot) is characterized by sensing or measurement noise, localization uncertainty, and navigates in a region with a parameterized field model. This paper addresses a problem of great importance to the SN robotic deployment: adaptive sampling by selection and repositioning of mobile sensing nodes in order to optimally estimate the parameters of distributed variable field models. We present simulation results using deployment scenarios that will be experimentally validated at a future date. © 2005 IEEE.

关键词： robotics

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Graphical models for nonlinear distributed estimation

Graphical models for nonlinear distributed estimation

引用

Proceedings of the Seventh International conference on Information fusion, fusion 2004

作者： Chong, Chee-Yee Mori, Shozo ALPHATECH Inc. 2570 West El Camino Real Mountain View CA 94040 United States

ISBN: (纸本)917056115X

distributed estimation has advantages over centralized estimation in reducing communication bandwidth, distributing the processing load and improving system survivability. One important technical issue in designing distributed estimation architectures and algorithms is the proper treatment of dependent information. This paper presents graphical models to represent dependent information in general distributed estimation problems. It reviews the use of information graphs to represent dependence due to communication among processing agents so that common information can be identified to avoid double counting infusion. It introduces Bayesian networks to represent conditional independence of measurements given the system states and recognize the minimal set of random variables that satisfy the conditional independence assumption. distributed fusion algorithms that avoid double-counting and reduce communication can be designed by using both information graphs and Bayesian networks. Examples in tracking and classification illustrate the utility of this approach.

关键词： sensor data fusion

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Decision fusion with Corrupted Reports in Multi-sensor Networks: a Game-Theoretic Approach 53

Decision Fusion with Corrupted Reports in Multi-Sensor Netwo...

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53rd IEEE Annual conference on Decision and Control (CDC)

作者： Abrardo, A. Barni, M. Kallas, K. Tondi, B. Univ Siena Dept Informat Engn & Math Via Roma 56 I-53100 Siena Italy

ISBN: (纸本)9781467360906

Decision fusion in adversarial setting is receiving increasing attention due to its relevance in several applications including sensor networks, cognitive radio, social networks, distributed network monitoring. In most cases, a fusion center has to make a decision based on the reports provided by local agents, e.g. the nodes of a multi-sensor network. In this paper, we consider a setup in which the fusion center makes its decision on the status of an observed system by relying on the decisions made by a pool of local nodes and by taking into account the possibility that some nodes maliciously corrupt their reports to induce a decision error. We do so by casting the problem into a game-theoretic framework and looking for the existence of an equilibrium point defining the optimum strategies for the fusion center and the malicious nodes. We analyze two different strategies for the fusion center: a strategy recently introduced by Varshney et al. in a cognitive radio setup and a new approach based on soft identification of malicious nodes. The superior performance of the new decision scheme are demonstrated by resorting to the game-theoretic framework introduced previously.

关键词： sensor nodes

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Mobile agent-based distributed fusion (MADfusion) system

Mobile agent-based distributed fusion (MADFUSION) system

引用

7th International conference on Information fusion (fusion)

作者： Landis, J Bai, L Salerno, J Hinman, M Boulware, D Temple Univ Dept Elect & Comp Engn Philadelphia PA 19122 USA

ISBN: (纸本)0780392868

This paper considers a system architecture referred to as the Mobile Agent-Based distributed fusion (MADfusion) system. The system environment consists of a peer-to-peer ad-hoc network in which information may be dynamically distributed and collected via publish/subscribe functionality implemented at each node of the network to facilitate data sharing and decision making in Level 2 fusion. The Level 2 decision making process implemented in the system consists of the Enhanced Doctrinal Template Matching (EDTM) algorithm which is shown to be an improvement over the pre-existing Doctrinal Template Matching algorithm. This algorithm is developed to operates on information obtained from lower layer fusion processes in order to identify aggregated groups of entities. The template matching algorithm is shown to be an improvement over a previously existing algorithm. The MADfusion system is proposed to extend the client/server architecture of various publish/subscribe applications to an architecture providing decentralization, reconfigurability, mobility, attainability and prevention of single points of failure. The system is implemented in a wireless ad-hoc network (802.11b) and performs the publish/subscribe functionality through the implementation of a mobile agent based framework. The software agents travel deterministically from node-to-node carrying a data payload consisting of information which may be subscribed to by users within the network. Within this system, situation awareness (Level 2 fusion) can be sought by using these multi-domain information sources (GMTI, Video, or SAR) for evaluation at each node with different distributed information fusion algorithms.

关键词： sensor data fusion

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HYPOTHESIS-DRIVEN distributed sensor MANAGEMENT 3

HYPOTHESIS-DRIVEN DISTRIBUTED SENSOR MANAGEMENT

引用

conference on Signal Processing, sensor fusion, and Target Recognition III

作者： DUNKELBERGER, KA MAGNAVOX DECIS SUPPORT SYST APPL CTR EXCELLENCEFT WAYNEIN 46808

ISBN: (纸本)0819415367

The primary thrusts of the intelligent multisource, multisensor integration (IMMSI) effort are to formalize an approach to hypothesis-driven distributed sensor management, validate that approach, identify candidates for decision support, and investigate implementations of appropriate cognitive processing modules. Using the existing manual voice communication-based cooperative process as a model, a coherent suite of human-machine interfaces, data communication protocols, and decision aids are being developed with the goal of real-time global optimal sensor allocation within the mission context. The Knowledgeable Observer And Linked Advice System (KOALAS) architecture provides a framework for constructing the operator-inductive/machine- deductive IMMSI system. The machine continuously updates a model of the environment from both local and remote sensor data. The operator interacts with the system by evaluating the perceived model and tuning it through the introduction of hypotheses. These hypotheses, also shared among platforms, provide cues for sensor management. The evolving sensor allocation provides new data for the model and a closed-loop intelligent control system is created. The cooperative agent paradigm provides a cognitive model for the IMMSI distributed sensor management process. In a typical cooperative task the common goal is achieved by the agents performing discrete transactions on a shared system state vector. Within the tactical environment, however, centralization of data is neither desirable nor possible; hence, coherency of a distributed track, hypothesis, and global sensor allocation database is also an issue.

关键词： sensors Data modeling Cognitive modeling Environmental sensing Intelligent sensors Process modeling Data communications Human-machine interfaces Intelligence systems Remote sensing

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Localization of the mobile agent using indirect Kalman filter in distributed sensor networks 09

Localization of the mobile agent using indirect Kalman filte...

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3rd International conference on Ubiquitous Information Management and Communication, ICUIMC'09

作者： Kwon, Ji-Wook Park, Mun-Soo Chwa, Dongkyoung Department of Electrical and Computer Engineering Ajou University San 5 Wonchun-Dong Yeongtong-Gu Suwon 443-749 Korea Republic of

ISBN: (纸本)9781605584058

This paper proposes a localization algorithm for mobile agents in sensor networks using the data fusion method based on indirect Kalman filter. The fusion method of an inertial navigation sensor and sensor nodes data is used to acquire the correct position information. Since indirect Kalman filter is used for estimation of the mobile agent position, the position of the mobile agent can be estimated even when the sensor node cannot work or data acquired from the network are not reliable. Because measurement errors are used for estimation, its implementation is easy. Finally, a sequence of simulations is carried out to confirm the performance of the proposed localization algorithm. Copyright 2009 ACM.

关键词： Mobile agents

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